/*
 * kernel.c
 *
 *  Created on: 13.09.2011
 *      Author: Roland
 */
#include "Types.h"
#include "FreeRTOS.h"
#include "queue.h"
#include "uart.h"

#define	kernel_TASK_PRIORITY		    ( tskIDLE_PRIORITY + 5 )
#define kernel_TASK_STACK_SIZE			( ( unsigned short ) 64 )

void UARTSend(uint8_t *BufferPtr, uint32_t Length);

/* Globals */
#define BUFSIZE		0x40	// fixme: ...is sdefined in hart.h
static Task_Param_t kernel_Param;
extern volatile uint32_t UARTCount;
extern volatile uint8_t UARTBuffer[BUFSIZE];

/*
 * Wake up other tasks, send them messages telling what to do,
 * wait for them to have processed the commands or not, maybe
 * put them to sleep again, ...
 * */
static void kernel_Process_Task(void *Param)
{
	Message_t RcvMsg;
	Message_t SndMsg;
	portTickType tick;
	portCHAR chBufCam[10] = "Seas Cam!";
	portCHAR chBufLSen[10] = "Seas LSe!";
	portCHAR l = 'l';

	if(NULL == kernel_Param.QueueHandles.hxq_Kernel)
	{
		return;
	}

	tick = xTaskGetTickCount();
	while(1)
	{
		vTaskDelayUntil(&tick, MS(3));

		if( xQueueReceive( kernel_Param.QueueHandles.hxq_Kernel, &RcvMsg, MS(5)))
		{
			/*
			 * switch Msg.Sender and act accordingly.
			 */
			switch (RcvMsg.Sender)
			{
			case Sender_Camera:
			{
				SndMsg.Sender = Sender_Kernel;
				SndMsg.pData = chBufCam;
				xQueueSend(kernel_Param.QueueHandles.hxq_Camera, &SndMsg, MS(10));
				break;
			}

			case Sender_LightSens:
			{
				SndMsg.Sender = Sender_Kernel;
				SndMsg.pData = chBufLSen;
				for(l = 0; l < 8; l ++)
				{
					UARTBuffer[l*4 +0] = 48+(((uint8_t *)(RcvMsg.pData))[l])%1000 / 100;
					UARTBuffer[l*4 +1] = 48+(((uint8_t *)(RcvMsg.pData))[l])%100 / 10;
					UARTBuffer[l*4 +2] = 48+(((uint8_t *)(RcvMsg.pData))[l])%10;
					UARTBuffer[l*4 +3] = ' ';
				}
				UARTCount = 34;
				UARTBuffer[32] = '\r';
				UARTBuffer[33] = '\n';
				UARTSend( (uint8_t *)UARTBuffer, UARTCount );
//				UARTSend( (uint8_t *)(RcvMsg.pData), 10 );
//				xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));
				break;
			}
			case Sender_UART:
			{
				if (UARTBuffer[UARTCount-1] != 'i')
					break;
				if ( UARTCount != 0 )
				{
				  LPC_UART->IER = IER_THRE | IER_RLS;			/* Disable RBR */
				  UARTSend( (uint8_t *)UARTBuffer, UARTCount );
				  UARTCount = 0;
				  LPC_UART->IER = IER_THRE | IER_RLS | IER_RBR;	/* Re-enable RBR */

				  l = 'r';
				  SndMsg.pData = &l;

				  xQueueSend(kernel_Param.QueueHandles.hxq_LightSens, &SndMsg, MS(10));
				}
				break;
			}
			default: {;}
			}
		}
	}
}

Status_t kernel_Init_Kernel(QH_t  hxQueues)
{
portBASE_TYPE xResult;

	xResult = xTaskCreate( kernel_Process_Task, (signed char *) "Kernel",
						   kernel_TASK_STACK_SIZE, &kernel_Param,
						   kernel_TASK_PRIORITY, &(kernel_Param.hxTask_Self) );

	kernel_Param.QueueHandles = hxQueues;

	/*TODO: check for success and pass it over to caller. */
	return STATUS_OK;
}